Author

Pengcheng Wang

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Preprint Oct 2026

Generative Neural Retargeting for Human-to-Robot Dexterous Manipulation

Human demonstrations are a scalable data source for learning dexterous manipulation, but the embodiment gap prevents human motion from being executed directly on robots. Inverse kinematics (IK) retargets human motion to robots efficiently but ignores dynamics, often producing infeasible motions. Reinforcement learning...

De-Chen Gao, Yue Yang, Ben Abbatematteo et al. · 0 citations

Preprint Jul 2026

CLIFT: Turning Gemini Robotics On-Device into Humanoid Specialists via Non-Invasive Closed-Loop Iterative Fine-Tuning

CLIFT: Closed-Loop Iterative Fine-Tuning is introduced, which turns deployment-time reward feedback into API-compatible supervised data and enables closed-loop policy improvement without accessing weights, gradients, likelihoods, or losses-pushing GROD to near-perfect success after two flywheel cycles, all without open...

Yuxin Chen, H. Srikanth, N. Jew et al. · 0 citations